METHOD FOR ENHANCING IN-PATH OBSTACLE DETECTION WITH SAFETY REDUNDANCY AUTONOMOUS SYSTEM

In one embodiment, a method for performing an obstacle detection for an ADV includes detecting an obstacle by a primary ADS and a secondary ADS using an obstacle detection algorithm based on sensor data provided by sensors on the ADV. In response to detecting the obstacle, a first controlled stop distance and a second controlled stop distance are calculated by the primary ADS and secondary ADS respectively based on a speed and a deceleration capability of the ADV. The first and second controlled stop distances between the primary ADS and secondary ADS are exchanged to determine a third controlled stop distance which is the maximum of the two. In response to determining that the ADV reaches within the third controlled distance between the ADV and the obstacle, a controlled stop operation is activated by the primary ADS to decelerate the ADV based on the third controlled stop distance.